Constraint equations for the inverse kinematics of 6R/P manipulators by Cacas, Eidref Jofel DV

The real orthogonal group and Vahlen matrices by Kunwor, Bimal

Trace invariance for quaternion matrices by De la Cruz, Ralph John

Understanding geometric algebra Hamilton, Grassmann, and Clifford for computer vision and graphics by Kanatani, Kenichi

Quaternion fourier transforms for signal and image processing by Ell, Todd A., Le Bihan, Nicolas, Sangwine, Stephen J.

Available for University of the Philippines Diliman via Wiley Online Library. Click here to access

Quaternions for computer graphics by Vince, John

Available for University of the Philippines Diliman via Springerlink. Click here to access

Decompositions involving quaternion matrices and complex partitioned matrices by Viloria, Jimmy Virtudes 1974-

Quaternion algebra applied to polygon theory in three dimensional space by Quee, Herman

Miniquaternion geometry an introduction to the study of projective planes by Room, T. G. (Thomas Gerald)